That sounds like a real fun little ride. Those are pretty tough little SUVs. If you have a divorced T-case, you should be able to get the 2 connected somehow. You might actually be able to do it with just one U-joint and the slip yoke in the tranny. Also I was thinking maybe some sort of industrial connector like a Lovejoy. I've never really seen it done but I see big electric motors in the plant I work at and they use them to smoothly transfer way more torque than your 4.3 can make and some of them run 3450 rpms.